技术领域technical field
本发明属于医学电子技术领域，具体涉及一种新型的髋置换术中髋臼及股骨头姿态获取方法与系统。 The invention belongs to the technical field of medical electronics, and in particular relates to a novel method and system for acquiring attitudes of acetabulum and femoral head in hip replacement. the
背景技术Background technique
从上世纪60年代起，人工关节置换术在我国逐渐发展，成为了无数关节疾病患者的福音。以髋关节置换术为例，其首选适应征是骨性关节炎，其它依次为骨无菌性坏死（如股骨头坏死等）、某些髋部骨折（如股骨颈骨折）、类风湿性关节炎、创伤性关节炎、良性和恶性骨肿瘤、强直性脊柱炎等，应用广泛。再加上当今人口日趋老龄化，骨性关节炎患者数量呈上涨趋势，医院每年进行的人工关节置换手术也越来越多。 Since the 1960s, artificial joint replacement has gradually developed in my country and has become a blessing for countless patients with joint diseases. Taking hip replacement as an example, the first indication is osteoarthritis, followed by aseptic necrosis of bone (such as femoral head necrosis, etc.), some hip fractures (such as femoral neck fracture), rheumatoid joint Inflammation, traumatic arthritis, benign and malignant bone tumors, ankylosing spondylitis, etc., are widely used. Coupled with today's aging population, the number of patients with osteoarthritis is on the rise, and more and more artificial joint replacement operations are performed in hospitals every year. the
然而，髋关节置换术仍存在有需要改进的地方。在现今的髋关节置换术中，将股骨头假体装入髋臼的过程全凭借手术医生的经验进行操作，医生无法直观地看到股骨头假体在髋臼中的运动情况，无法准确地肯定股骨头假体是否安装在了髋臼中合适的位置。假如置换时假体的安装位置不正确，重则导致患者在术后出现运动受限或是假关节脱臼的现象，轻则由于假体长期受力不均，加速磨损，导致假体使用寿命锐减。一般而言，成功的人工髋关节置换手术可以为进行了人工髋关节置换的病人提供20年甚至更长时间的服务；但如果由安装位置偏差导致了关节长期受力不均，那么人工髋关节的使用寿命将锐减至7—8年甚至更短。 However, there is still room for improvement in hip replacement surgery. In today's hip replacement surgery, the process of inserting the femoral head prosthesis into the acetabulum relies entirely on the surgeon's experience. The doctor cannot intuitively see the movement of the femoral head prosthesis in the acetabulum, and cannot accurately Make sure the femoral head prosthesis fits properly in the acetabulum. If the installation position of the prosthesis is not correct during the replacement, it may lead to limited movement or dislocation of the pseudo-joint after the operation, or the long-term uneven force on the prosthesis will accelerate wear and shorten the service life of the prosthesis. reduce. Generally speaking, a successful artificial hip replacement operation can provide patients with artificial hip replacement for 20 years or even longer; The service life will be sharply reduced to 7-8 years or even shorter. the
发明内容Contents of the invention
为了克服上述现有技术的不足，本发明的目的在于提供了一种新型的髋置换术中髋臼及股骨头姿态获取方法与系统，能在髋关节置换术进行时，准确地仿真出股骨头假体的存在姿态，使医生在手术过程中能直观地看到股骨头 假体的位置与运动情况，大大提高了髋关节置换术的成功率及手术疗效。 In order to overcome the deficiencies of the above-mentioned prior art, the object of the present invention is to provide a novel method and system for obtaining the posture of the acetabulum and the femoral head in hip replacement surgery, which can accurately simulate the posture of the femoral head during hip replacement surgery. The posture of the prosthesis enables the doctor to visually see the position and movement of the femoral head prosthesis during the operation, which greatly improves the success rate and curative effect of hip replacement surgery. the
为了实现上述目的，本发明采用的技术方案是： In order to achieve the above object, the technical solution adopted in the present invention is:
一种新型的髋置换术中髋臼及股骨头姿态获取方法，在股骨头假体试模上髋关节置换所关注的各压力点位置处设置压力传感器和/或触碰传感器组成传感器阵列，传感器阵列获取股骨头假体试模与髋臼的接触及受力信号并将信号以无线方式发出，利用无线接收装置接收该信号并在显示模块上显示，获取髋臼及股骨头的模拟姿态，所述传感器阵列还包括设置在股骨头假体试模内部的图像传感器，图像传感器获取股骨头假体试模的位置信息并发至显示模块显示。 A new method for acquiring the posture of the acetabular and femoral head in hip replacement surgery. Pressure sensors and/or touch sensors are set at the positions of the pressure points concerned by hip joint replacement on the femoral head prosthesis trial model to form a sensor array. The array acquires the contact and force signals between the femoral head prosthesis test model and the acetabulum and sends the signal wirelessly, and uses the wireless receiving device to receive the signal and display it on the display module to obtain the simulated posture of the acetabulum and the femoral head. The sensor array also includes an image sensor arranged inside the femoral head prosthesis trial mold, and the image sensor acquires the position information of the femoral head prosthesis trial mold and sends it to the display module for display. the
位置信息的获取可通过在髋臼内侧预先设计图案，利用所述图像传感器获取髋臼内侧图案信息，从而得到位置信息。 The position information can be obtained by pre-designing a pattern on the inner side of the acetabulum, and using the image sensor to acquire the pattern information on the inner side of the acetabulum, thereby obtaining the position information. the
本发明同时提供了一种实现所述姿态获取方法的系统，包括： The present invention also provides a system for realizing the attitude acquisition method, including:
由设置在股骨头假体试模上髋关节置换所关注的各压力点位置处的多个压力传感器和/或触碰传感器以及设置在股骨头假体试模内部图像传感器组成的传感器阵列； A sensor array composed of a plurality of pressure sensors and/or touch sensors arranged on the femoral head prosthesis trial model at each pressure point where the hip joint replacement is concerned, and an image sensor arranged inside the femoral head prosthesis trial model;
用于处理及发送传感器阵列所获信号的外围电路； Peripheral circuits for processing and sending signals obtained by the sensor array;
以及， as well as,
用于接收并显示外围电路所发信号的信号接收显示装置。 A signal receiving and displaying device for receiving and displaying signals sent by peripheral circuits. the
所述外围电路的一种情况包括： A case of the peripheral circuit includes:
信号放大模块，接传感器阵列的输出，实现对传感器信号的放大及数模转换； The signal amplification module is connected to the output of the sensor array to realize the amplification and digital-to-analog conversion of the sensor signal;
第一微处理器，接信号放大模块的输出，控制传感器阵列及信号放大模块正常工作，并对传感器数字信号进行并/串处理和打包发送； The first microprocessor is connected to the output of the signal amplification module, controls the normal operation of the sensor array and the signal amplification module, and performs parallel/serial processing and packaging and sending of the sensor digital signals;
第一无线收发模块，接第一微处理器的输出，将数据发送； The first wireless transceiver module is connected to the output of the first microprocessor to send data;
所述信号接收显示装置包括： The signal receiving display device includes:
第二无线收发模块，接收第一无线收发模块发送的数据； The second wireless transceiver module receives the data sent by the first wireless transceiver module;
第二微处理器，接收来自第二无线收发模块的数据，并将传感器数字信号处理为便于操作者观察的形式； The second microprocessor receives data from the second wireless transceiver module, and processes the digital signal of the sensor into a form that is convenient for the operator to observe;
显示模块，接第二微处理器，显示其处理结果。 The display module is connected to the second microprocessor to display its processing results. the
所述外围电路的另一种情况包括： Another case of the peripheral circuit includes:
信号放大模块，接传感器阵列的输出，实现对传感器信号的放大及数模转换； The signal amplification module is connected to the output of the sensor array to realize the amplification and digital-to-analog conversion of the sensor signal;
第一微处理器，接信号放大模块的输出，控制传感器阵列及信号放大模块正常工作，并对传感器数字信号进行并/串处理和打包发送； The first microprocessor is connected to the output of the signal amplification module, controls the normal operation of the sensor array and the signal amplification module, and performs parallel/serial processing and packaging and sending of the sensor digital signals;
所述信号接收显示装置包括： The signal receiving display device includes:
第二微处理器，接第一微处理器的信号输出端，并将传感器数字信号处理为便于操作者观察的形式； The second microprocessor is connected to the signal output terminal of the first microprocessor, and processes the digital signal of the sensor into a form that is convenient for the operator to observe;
显示模块，接第二微处理器，显示其处理结果。 The display module is connected to the second microprocessor to display its processing results. the
在髋臼一侧增加安装永磁铁，并在股骨头一侧增加安装单轴或多轴磁力计，从而测量髋臼与股骨头的相对角度关系。 A permanent magnet is installed on the side of the acetabulum, and a single-axis or multi-axis magnetometer is installed on the side of the femoral head to measure the relative angle relationship between the acetabulum and the femoral head. the
所述股骨头假体试模的一端为半球面，该半球面上分布用于安装压力传感器或触碰传感器以及地线的安装孔。 One end of the femoral head prosthesis trial mold is a hemispherical surface, and the hemispherical surface is distributed with installation holes for installing pressure sensors or touch sensors and ground wires. the
所述安装孔在所述半球面上的分布如下： The distribution of the mounting holes on the hemispherical surface is as follows:
半球面顶部中心有一个安装孔，从顶部向下另有五圈对称的安装孔。 There is a mounting hole in the center of the top of the hemisphere, and there are five rings of symmetrical mounting holes from the top down. the
所述五圈对称的安装孔自上向下，每圈边缘到球心的连线与水平线间的夹角分别是67.5°、52.5°、37.5°、22.5°、7.5°。 The five circles of symmetrical mounting holes are from top to bottom, and the angles between the line connecting the edge of each circle to the center of the ball and the horizontal line are 67.5°, 52.5°, 37.5°, 22.5°, and 7.5° respectively. the
所述半球面顶部安装孔中设置一个压力或者触碰传感器； A pressure or touch sensor is set in the mounting hole on the top of the hemisphere;
从所述半球面顶部往下，第一圈均布八个安装孔，间隔设置共计四个压力或者触碰传感器和四个接地点； From the top of the hemispherical surface, eight mounting holes are evenly distributed in the first circle, and a total of four pressure or touch sensors and four grounding points are arranged at intervals;
从所述半球面顶部往下，第二至第五圈，每圈设置十二个压力或者触碰传感器，每圈压力或者触碰传感器相邻两孔间隔30°分布；其中，第四圈还间隔着压力或者触碰传感器分布了十二个接地点。 From the top of the hemispherical surface downwards, from the second to the fifth circle, twelve pressure or touch sensors are arranged in each circle, and the pressure or touch sensors in each circle are distributed at an interval of 30° between two adjacent holes; wherein, the fourth circle is also Twelve ground points are distributed between pressure or touch sensors. the
所述半球面的底部与中空的颈部相连，颈部侧面对称分布有若干个触点，每个触点位置设置辅助传感器，辅助传感器通过外围电路连接告警装置。 The bottom of the hemispherical surface is connected to the hollow neck, and several contacts are symmetrically distributed on the side of the neck, and an auxiliary sensor is arranged at each contact position, and the auxiliary sensor is connected to the alarm device through a peripheral circuit. the
所述外围电路设置于颈部的中空位置。 The peripheral circuit is arranged in the hollow position of the neck. the
目前尚无此类型的姿态获取方法或者系统，而利用本发明能够使医生在手术过程中能直观地看到股骨头假体的位置与运动情况，提高手术效率及疗效。 At present, there is no such type of posture acquisition method or system, but using the present invention can enable the doctor to visually see the position and movement of the femoral head prosthesis during the operation, and improve the operation efficiency and curative effect. the
附图说明Description of drawings
图1为本发明所述系统的电原理框图。 Figure 1 is an electrical block diagram of the system of the present invention. the
图2为本发明压力获取装置的机械机构示意图。 Fig. 2 is a schematic diagram of the mechanical mechanism of the pressure acquisition device of the present invention. the
图3为本发明假体试模半球面上压力传感器与接地点分布的俯视图，圆点表示压力传感器，方点表示接地点。 Fig. 3 is a top view of the distribution of pressure sensors and grounding points on the hemispherical surface of the prosthesis test mold of the present invention, the dots represent pressure sensors, and the square points represent grounding points. the
具体实施方式Detailed ways
下面结合附图和实施例对本发明做进一步详细说明。 The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments. the
本发明提供一种带图像传感器的髋关节置换术中髋臼及股骨头姿态获取方法，通过在股骨头假体试模上髋关节置换所关注的各点位置处设置压力传感器和/或触碰传感器以及设置在股骨头假体试模内部的图像传感器组成传感器阵列，由传感器阵列获取股骨头假体试模与髋臼的接触及受力情况及位置信息并将信号发出，接收端接收该信号并在显示模块上显示，获取髋臼及股骨头的模拟姿态，信号的传输可以用无线或者有线的形式。医生可以根据该模拟姿态用股骨头假体试模进行定位，在找到合适位置后再将其替换为适合的股骨头假体进行人工髋关节置换。其中位置信息的获取是通过在髋臼内侧预先设计图案，利用所述图像传感器获取髋臼内侧图案信息，从而得到的。 The invention provides a method for acquiring the attitude of the acetabulum and the femoral head in hip replacement with an image sensor, by setting pressure sensors and/or touching The sensor and the image sensor installed inside the femoral head prosthesis test mold form a sensor array, and the sensor array acquires the contact, force and position information between the femoral head prosthesis test mold and the acetabulum and sends out a signal, and the receiving end receives the signal And display on the display module to obtain the simulated posture of the acetabulum and the femoral head, and the signal transmission can be in the form of wireless or wired. The doctor can use the femoral head prosthesis to try out the positioning according to the simulated posture, and then replace it with a suitable femoral head prosthesis for artificial hip replacement after finding a suitable position. Wherein the position information is obtained by pre-designing a pattern on the inside of the acetabulum, and using the image sensor to obtain pattern information on the inside of the acetabulum. the
为实现上述方法，本发明提供一种系统，如图1所示，分为信息获取装置和信息接收显示装置，其中：信息获取装置包括传感器阵列、信号放大模块、第一微处理器以及第一无线收发模块；信息接收显示装置包括第二无线收发模块、第二微处理器以及显示模块。第一无线收发模块用来将第一微处理器的信息以无线形式发送，第二无线收发模块接收该信息并传输至第二微处理器，从而实现信息的无线传输。不过，也可以将第一微处理器与第二微处理器以有线方式直接连接，用有线方式传输信息。 In order to realize the above method, the present invention provides a system, as shown in Figure 1, which is divided into an information acquisition device and an information receiving and displaying device, wherein: the information acquisition device includes a sensor array, a signal amplification module, a first microprocessor and a first The wireless transceiver module; the information receiving and displaying device includes a second wireless transceiver module, a second microprocessor and a display module. The first wireless transceiver module is used to wirelessly send the information of the first microprocessor, and the second wireless transceiver module receives the information and transmits it to the second microprocessor, thereby realizing wireless transmission of information. However, it is also possible to directly connect the first microprocessor and the second microprocessor in a wired manner to transmit information in a wired manner. the
传感器阵列由设置在股骨头假体试模上髋关节置换所关注的各点位置处的多个压力传感器和/或触碰传感器以及设置在股骨头假体试模内部的图像传感器组成，试模与传感器可以采取的一种机械结构如图2所示，试模的一端为半球面，该半球面上分布用于安装压力或者触碰传感器1及地线的安装孔，压力或者触碰传感器1安装于安装孔，图像传感器2安装在股骨头内部，图像传感器2的引线3引出后，将半球面内部注胶形成实心，外部设一封闭外壳（留出安装孔），具有封闭防水的作用。 The sensor array is made up of a plurality of pressure sensors and/or touch sensors arranged at each point position of the hip joint replacement on the femoral head prosthesis trial model and an image sensor arranged inside the femoral head prosthesis trial model. A mechanical structure that can be adopted with the sensor is shown in Figure 2. One end of the test mold is a hemispherical surface, and the installation holes for installing the pressure or touch sensor 1 and the ground wire are distributed on the hemispherical surface. The pressure or touch sensor 1 Installed in the installation hole, the image sensor 2 is installed inside the femoral head. After the lead wire 3 of the image sensor 2 is drawn out, the inside of the hemispherical surface is injected with glue to form a solid body, and a closed shell (with the installation hole left) is provided on the outside, which has the function of sealing and waterproofing. the
安装孔在所述半球面上的一种分布形式如图3所示： A form of distribution of mounting holes on the hemispherical surface is shown in Figure 3:
半球面顶部中心有一个安装孔； There is a mounting hole in the center of the top of the hemisphere;
从顶部向下另有五圈对称的安装孔，自上向下，每圈边缘到球心的连线与水平线间的夹角分别是67.5°、52.5°、37.5°、22.5°、7.5°。 There are five rings of symmetrical mounting holes from the top down. From top to bottom, the angles between the line from the edge of each ring to the center of the ball and the horizontal line are 67.5°, 52.5°, 37.5°, 22.5°, and 7.5° respectively. the
传感器与地线在安装孔中的分布采取如下规则： The distribution of sensors and ground wires in the installation holes adopts the following rules:
半球面顶部安装孔中设置一个压力或者触碰传感器1； A pressure or touch sensor 1 is set in the mounting hole on the top of the hemisphere;
从半球面顶部往下，第一圈均布八个安装孔，间隔设置共计四个压力或者触碰传感器1和四个接地点； From the top of the hemisphere, eight mounting holes are evenly distributed in the first circle, and a total of four pressure or touch sensors 1 and four grounding points are arranged at intervals;
从所述半球面顶部往下，第二至第五圈，每圈设置十二个压力或者触碰传感器1，每圈压力或者触碰传感器1相邻两孔间隔30°分布；其中，第四圈还间隔压力或者触碰传感器1分布了十二个接地点，因此第四圈相邻两孔间隔15°，整个半球面上共形成52个数据点和17个接地点。 From the top of the hemisphere downward, from the second to the fifth circle, twelve pressure or touch sensors 1 are arranged in each circle, and the pressure or touch sensors 1 in each circle are distributed at intervals of 30° between two adjacent holes; among them, the fourth Twelve grounding points are distributed in the circle at intervals of the pressure or touch sensor 1, so the distance between two adjacent holes in the fourth circle is 15°, and a total of 52 data points and 17 grounding points are formed on the entire hemispherical surface. the
同时，半球面的底部与中空的颈部相连，集成信号放大模块、第一微处理器以及第一无线收发模块的电路板4设置于颈部的中空位置。而颈部的外侧面对称分布有六个触点5，每个触点5位置设置辅助传感器，辅助传感器通过信号放大模块连接至第一微处理器，第一微处理器根据该信号启动其连接的告警装置。 At the same time, the bottom of the hemisphere is connected to the hollow neck, and the circuit board 4 integrating the signal amplification module, the first microprocessor and the first wireless transceiver module is arranged in the hollow of the neck. The outer surface of the neck is symmetrically distributed with six contacts 5, each contact 5 position is provided with an auxiliary sensor, the auxiliary sensor is connected to the first microprocessor through the signal amplification module, and the first microprocessor starts its connection according to the signal. warning device. the
本发明系统的工作过程如下： The working process of the system of the present invention is as follows:
医生先使用股骨头假体试模进行定位，由于压力或者触碰传感器安装的位置是髋关节置换手术所关注的各压力点，这些压力点对于执行本手术的医 生来讲是可以预见的。同时，在髋臼内侧预先设计图案，图像传感器位于股骨头假体试模内部，在股骨头一侧，图像传感器可获取髋臼内侧图案信息，从而得到股骨头假体试模的确切位置信息。因此，过程中传感器阵列能够通过与髋臼之间接触、受力而获取各种信号，这些信号经过信号放大模块的放大以及A/D转换，之后输入到第一微处理器中，第一微处理器控制传感器阵列及信号放大模块等电路模块正常工作，并对接收到的数字信号进行并/串处理，打包发送经由第一无线收发模块发出，而该信号被设置在外部的第二无线收发模块接收到，第一无线收发模块与第二无线收发模块可采用蓝牙的收发模式。第二无线收发模块将其接收的数据输入至第二微处理器，第二微处理器将数字压力信号处理为便于操作者观察的形式并在显示模块显示给医生观看，第二微处理器和显示模块在实践中可以直接用PC机或平板电脑。医生由此获取到假体表面各部分实时的接触情况和压力分布情况，同时可获得假体的确切位置，从而找到一个压力平衡位置进行精细定位。定位之后，医生接着将假体试模取下，换上适合的股骨头假体完成手术。 The doctor first uses the femoral head prosthesis trial model for positioning. Since the installation position of the pressure or touch sensor is the pressure point of the hip joint replacement surgery, these pressure points are predictable for the doctor performing the operation. At the same time, the pattern is pre-designed on the inner side of the acetabulum, and the image sensor is located inside the trial mold of the femoral head prosthesis. Therefore, during the process, the sensor array can obtain various signals through contact and force with the acetabulum. These signals are amplified by the signal amplification module and A/D converted, and then input into the first microprocessor. The processor controls the circuit modules such as the sensor array and the signal amplification module to work normally, and performs parallel/serial processing on the received digital signals, packs and sends them through the first wireless transceiver module, and the signal is set in the external second wireless transceiver module The module receives, the first wireless transceiver module and the second wireless transceiver module can adopt the Bluetooth transceiver mode. The second wireless transceiver module inputs the data it receives to the second microprocessor, and the second microprocessor processes the digital pressure signal into a form that is convenient for the operator to observe and displays it on the display module for the doctor to watch, the second microprocessor and In practice, the display module can directly use a PC or a tablet computer. In this way, the doctor can obtain the real-time contact and pressure distribution of each part of the prosthesis surface, and at the same time obtain the exact position of the prosthesis, so as to find a pressure balance position for fine positioning. After positioning, the doctor then removed the prosthesis trial model and replaced it with a suitable femoral head prosthesis to complete the operation. the
同时，由于在假体试模的颈部外侧设置有辅助传感器，当其与髋臼面接触时，表示假体试模未在手术的中心位置，辅助传感器也选用压力或者触碰传感器。此时辅助传感器的信号经信号放大模块后输入到第一微处理器，第一微处理器根据该信号启动其连接的告警装置，发出告警，表示当前假体位置会导致半脱臼或全脱臼。 Simultaneously, because the auxiliary sensor is arranged on the neck outside of the prosthesis trial model, when it contacts with the acetabular surface, it means that the prosthesis trial model is not in the center of the operation, and the auxiliary sensor also selects a pressure or touch sensor. At this time, the signal of the auxiliary sensor is input to the first microprocessor after the signal amplification module, and the first microprocessor activates the alarm device connected to it according to the signal, and sends out an alarm, indicating that the current position of the prosthesis will cause subluxation or total dislocation. the
本发明中，传感器阵列中的传感器类型可根据情况选用压力传感器和/或触碰传感器以及图像传感器，目的是感知股骨头假体试模与髋臼的接触、受力情况及相对位置，以此判断假体试模的位置是否合适，压力传感器和/或触碰传感器以及图像传感器的具体分布位置可根据假体试模的大小等情况进行改变。 In the present invention, the sensor type in the sensor array can select pressure sensor and/or touch sensor and image sensor according to the situation, and purpose is to perceive the contact, force situation and relative position of femoral head prosthesis trial mold and acetabulum, thereby To determine whether the position of the prosthesis test model is appropriate, the specific distribution positions of the pressure sensors and/or touch sensors and image sensors can be changed according to the size of the prosthesis test model. the
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